Soft porcelain feeding and discharging manipulator

Abstract

The utility model relates to the technical field of soft porcelain processing, in particular to a soft porcelain feeding and discharging manipulator which comprises a rack, a space sliding device, a negative pressure device and a plurality of adsorption mechanisms. The space sliding device is installed on the rack, and the action end of the space sliding device can generate space displacement relative to the rack. The negative pressure device is installed on the space sliding device and used for providing negative pressure. Each adsorption mechanism comprises a base and a buffer pad, buffer structures are hinged to the two ends of the top face of the base, the other ends of the buffer structures are connected with the action end of the space sliding device, a plurality of adsorption holes are formed in the bottom face of the base and communicate with the negative pressure device, and the buffer pads are arranged on the bottom face of the base. Through holes are formed in the areas, corresponding to the adsorption holes, of the buffering cushion. The soft porcelain loading and unloading manipulator can be used for stably adsorbing soft porcelain and is suitable for carrying the soft porcelain.

Description

Technical Field

[0001] This utility model relates to the field of soft porcelain processing technology, specifically to a soft porcelain loading and unloading robot. Background Technology

[0002] Currently, to improve production efficiency, continuous drying equipment is generally used in the drying process of soft ceramics. Continuous drying equipment is typically equipped with a conveyor system to continuously transport the soft ceramics to the drying equipment. The loading and unloading of the soft ceramics relative to the conveyor system is usually done manually or by robotic arms, which minimizes the labor intensity and improves efficiency.

[0003] For example, patent CN107984490A, a vacuum suction cup robot, uses a multi-degree-of-freedom flexible robotic arm. However, the driving load of the flexible robotic arm is limited, and the weight and size of soft ceramics vary, resulting in high operating costs and limited applicability for this type of robot. To address this, patent CN105397872B discloses a woodworking gantry-type board loading and unloading robot, which also handles sheet materials. However, in this design, the suction cup and mounting frame are fixedly connected, resulting in hard contact between the suction cup and the sheet material. In this design, the board material has a relatively flat surface, allowing for this type of suction. However, soft ceramics typically have uneven decorative surfaces, making the aforementioned robot unsuitable for handling them. Utility Model Content

[0004] In order to overcome one of the shortcomings of the existing technology, the purpose of this utility model is to provide a soft porcelain loading and unloading robot that can stably adsorb soft porcelain and is suitable for the handling of soft porcelain.

[0005] To solve the above problems, the technical solution adopted by this utility model is as follows:

[0006] A robotic arm for loading and unloading soft ceramics includes a frame, a spatial sliding device, a negative pressure device, and several adsorption mechanisms. The spatial sliding device is mounted on the frame, and its actuating end is capable of spatial displacement relative to the frame. The negative pressure device is mounted on the spatial sliding device to provide negative pressure. Each adsorption mechanism includes a base and a buffer pad. Both ends of the top surface of the base are hinged with buffer structures, and the other end of the buffer structures is connected to the actuating end of the spatial sliding device. Several adsorption holes are provided on the bottom surface of the base, and all adsorption holes communicate with the negative pressure device. The buffer pad is disposed on the bottom surface of the base, and through holes are provided on the corresponding areas of the adsorption holes on the buffer pad.

[0007] Furthermore, the buffer structure includes a sliding column, a mounting sleeve, a hinge joint disposed at one end of the sliding column, and a shock-absorbing spring. The mounting sleeve is installed on the moving end of the spatial sliding device. The sliding column is movably inserted into the mounting sleeve. The shock-absorbing spring is movably fitted on the area of ​​the sliding column located between the mounting sleeve and the hinge joint. The two ends of the shock-absorbing spring abut against the mounting sleeve and the hinge joint, respectively. One end of the sliding column protruding from the mounting sleeve is tightened by a nut. The hinge joint is hinged to the top surface of the base.

[0008] Furthermore, a hinge seat is provided on the top surface of the base, and the hinge seat is hinged to the hinge joint.

[0009] Furthermore, all of the aforementioned hinge seats can only swing in the same direction relative to the hinge joint.

[0010] Furthermore, the cushioning pad is made of sponge material.

[0011] Furthermore, the hinge joint is capable of rotating relative to the sliding column.

[0012] Furthermore, the negative pressure device includes a negative pressure fan, a main connecting pipe, a distribution pipe, and several connecting pipes connected in sequence. The negative pressure fan is installed on the space sliding device. Each of the connecting pipes is connected to an adsorption hole on a corresponding base. The distribution pipe is connected to the operating end of the space sliding device.

[0013] Furthermore, the spatial sliding device includes a slide rail, a sliding table slidably mounted on the slide rail, and a lifting frame disposed on the sliding table. The slide rail is disposed on the frame, and the frame is provided with a driver for driving the sliding table to slide on the slide rail. All the buffer structures are mounted on the lifting frame, the negative pressure fan is mounted on the sliding table, and the distribution pipe is mounted on the lifting frame.

[0014] Furthermore, the lifting frame includes a column and a mounting beam. The column is mounted on the sliding platform via a lifting device. Two mounting beams are provided and are respectively installed on both sides of the column. The buffer structure is installed on the mounting beam, and the distribution pipe is installed on the mounting beam.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This utility model discloses a flexible ceramic loading and unloading robot that adopts a portal frame design. This design increases the load-bearing capacity of the entire structure, ensures service life, and reduces operating costs. Furthermore, each adsorption mechanism is connected to a spatial sliding device via a buffer structure, increasing the flexibility of the connection and absorbing the impact generated when the buffer pad comes into contact with the uneven surface of the flexible ceramic, thus reducing the impact on the spatial sliding device. In addition, the buffer structure and the base are hinged, allowing the design to automatically adapt to the tilt angle of the flexible ceramic surface, ensuring the buffer pad is directly facing the surface and improving the adsorption effect. Using the base as the main body of the adsorption structure provides high flexibility, while the design of the buffer pad adapts to the surface of the flexible ceramic, allowing the ceramic to adhere tightly to the surface of the buffer pad when negative pressure is applied, thereby improving the adsorption effect.

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Figure 1 This is a top view of an embodiment of the present utility model;

[0019] Figure 2 This is a left view of an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the adsorption mechanism in an embodiment of this utility model;

[0021] Figure 4 This is a cross-sectional view of the adsorption mechanism in an embodiment of this utility model.

[0022] Explanation of icon numbers:

[0023] Frame 10, space sliding device 20, slide rail 21, sliding table 22, lifting frame 23, driver 24, column 25, mounting beam 26, lifting device 27, negative pressure device 30, negative pressure fan 31, main connecting pipe 32, distribution pipe 33, connecting pipe 34, adsorption mechanism 40, base 41, buffer pad 42, adsorption hole 43, through hole 44, sliding column 45, hinge joint 47, shock absorption spring 48, nut 49, hinge seat 4a. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0025] Reference Figures 1 to 4The illustrated flexible ceramic loading and unloading robot includes a frame 10, a spatial sliding device 20, a negative pressure device 30, and several adsorption mechanisms 40. The spatial sliding device 20 is mounted on the frame 10, and its actuating end is capable of spatial displacement relative to the frame 10. The negative pressure device 30 is mounted on the spatial sliding device 20 and is used to provide negative pressure. Each adsorption mechanism 40 includes a base 41 and a buffer pad 42. Both ends of the top surface of the base 41 are hinged with buffer structures, and the other end of the buffer structures is connected to the actuating end of the spatial sliding device 20. Several adsorption holes 43 are provided on the bottom surface of the base 41, and all adsorption holes 43 are connected to the negative pressure device 30. The buffer pad 42 is provided on the bottom surface of the base 41, and through holes 44 are provided on the corresponding areas of the adsorption holes 43.

[0026] In the above embodiments, the base 41 and the buffer pad 42 form a suction cup-like structure. However, in this application, to adapt to the surface and weight of the soft porcelain, a conventional suction cup structure is insufficient. Furthermore, the spatial sliding device 20 in this application is structurally selected and designed according to requirements, and can employ a conventional multi-axis robotic arm or a gantry-type multi-axis robotic arm to improve spatial displacement. The main purpose of the buffer structure in this application is to enable the base 41 to automatically adapt to the uneven surface of the soft porcelain.

[0027] See Figures 1 to 2 In one embodiment of this application, to facilitate spatial displacement of the adsorption mechanism 40, the spatial sliding device 20 includes a slide rail 21, a sliding table 22 slidably mounted on the slide rail 21, and a lifting frame 23 mounted on the sliding table 22. The slide rail 21 is mounted on the frame 10, and the frame 10 is equipped with a driver 24 for driving the sliding table 22 to slide on the slide rail 21. All the buffer structures are mounted on the lifting frame 23, and the negative pressure device 30 is mounted on the sliding table 22. The driver 24 can be a rack and pinion structure or a conventional sliding electric cylinder structure. The lifting frame 23 is designed to accommodate the loading and unloading of soft ceramics of different heights.

[0028] In the above-described improved design, to facilitate the installation of the buffer structure, the lifting frame 23 includes a column portion 25 and a mounting beam 26. The column portion 25 is mounted on the sliding table 22 via a lifting device 27. Two mounting beams 26 are provided, respectively mounted on both sides of the column portion 25. The buffer structure is mounted on the mounting beams 26. In the actual design, mounting plates are provided on both sides of the mounting beam 26, and the corresponding end of the buffer structure is mounted on the mounting plate. In this embodiment, the lifting device 27 adopts a gear and rack design, meaning that the motor on the sliding table 22 drives the gear, which can then move up and down relative to the rack on the column portion 25.

[0029] See Figures 1 to 4 In one embodiment of this application, to ensure the adsorption effect, the negative pressure device 30 includes a negative pressure fan 31, a main connecting pipe 32, a distribution pipe 33, and several connecting pipes 34 connected in sequence. The negative pressure fan 31 is mounted on the spatial sliding device 20. Each connecting pipe 34 is connected to an adsorption hole 43 on a corresponding base 41. The distribution pipe 33 is connected to the moving end of the spatial sliding device 20. More specifically, the negative pressure fan 31 is mounted on the sliding table 22, and the distribution pipe 33 is mounted on the lifting frame 23. Since the base 41 moves up and down with the mounting beam 26, and to maintain stable communication between the connecting pipe 34 and the base 41, this application designs the distribution pipe 33 to facilitate fixation. Both the main connecting pipe 32 and the connecting pipe 34 are deformable, while the distribution pipe 33 is mounted on the mounting beam 26.

[0030] See Figure 3 and Figure 4In one embodiment of this application, the buffer structure includes a sliding column 45, a mounting sleeve 46, a hinge joint 47 disposed at one end of the sliding column 45, and a shock-absorbing spring 48. The mounting sleeve 46 is mounted on the actuating end of the spatial sliding device 20. The sliding column 45 is movably inserted into the mounting sleeve 46. The shock-absorbing spring 48 is movably fitted onto the area of ​​the sliding column 45 located between the mounting sleeve 46 and the hinge joint 47. The two ends of the shock-absorbing spring 48 abut against the mounting sleeve 46 and the hinge joint 47, respectively. One end of the sliding column 45 protruding from the mounting sleeve 46 is tightened by a nut 49. The hinge joint 47 is hinged to the top surface of the base 41. When the buffer pad 42 comes into contact with the surface of the soft porcelain, the buffer pad 42 deforms due to the adsorption force. Simultaneously, the base 41 automatically adapts to the surface of the soft porcelain and adjusts its spatial posture, thereby improving the adsorption effect between the two. After the lifting frame 23 is raised, the weight of the soft porcelain will cause the base 41 to automatically adjust its posture to fit the lifted soft porcelain, resulting in high overall adaptability and ensuring that the base 41 is always directly facing the surface of the soft porcelain. In addition, the design of the aforementioned shock-absorbing spring 48 provides secondary shock absorption between the base 41 and the soft porcelain, preventing excessive deformation of the buffer pad 42 due to changes in the force exerted by the soft porcelain on the base 41 during transportation, thus reducing the risk of the soft porcelain falling.

[0031] Furthermore, in the above embodiments, for ease of installation, a hinge seat 4a is provided on the top surface of the base 41, and the hinge seat 4a is hinged to the hinge joint 47. In an improved embodiment, the hinge joint 47 can rotate relative to the sliding column 45, a design that facilitates installation and adaptation.

[0032] In addition, in one embodiment, all of the hinge seats 4a can only swing in the same direction relative to the hinge joint 47. This design makes it easier to regulate the swing direction of the base 41 and adapt to the conveying direction of the soft porcelain.

[0033] Furthermore, in one embodiment of this application, the buffer pad 42 is made of sponge material. When the negative pressure device 30 is working, after the buffer pad 42 contacts the surface of the soft porcelain, the soft porcelain gradually approaches the base 41 under the action of negative pressure. At this time, the buffer pad 42 is compressed, and the holes on its periphery are deformed and sealed by itself. In this way, the buffer pad 42 can form a deformable structure that can arbitrarily adapt to the surface of the soft porcelain. Its deformability is much better than that of a solid structure without holes.

[0034] This flexible ceramic loading and unloading robot adopts a portal frame design, which increases the load-bearing capacity of the entire structure, ensures service life, and reduces operating costs. Furthermore, each of the adsorption mechanisms 40 is connected to the spatial sliding device 20 via a buffer structure, increasing the flexibility of the connection and absorbing the impact generated when the buffer pad 42 contacts the uneven surface of the flexible ceramic, thus reducing the impact on the spatial sliding device 20. In addition, the buffer structure and the base 41 are hinged, a design that automatically adapts to the tilt angle of the flexible ceramic surface, ensuring that the buffer pad 42 is directly facing the surface of the flexible ceramic, improving the adsorption effect. Using the base 41 as the main body of the adsorption structure provides high flexibility, while the design of the buffer pad 42 adapts to the surface of the flexible ceramic, allowing the flexible ceramic to adhere tightly to the surface of the buffer pad 42 when the negative pressure device 30 provides negative pressure, thereby improving the adsorption effect.

[0035] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A robotic arm for loading and unloading flexible ceramics, characterized in that, include frame; A spatial sliding device is mounted on the frame, and its actuating end is capable of spatial displacement relative to the frame; A negative pressure device, which is installed on the space sliding device, is used to provide negative pressure; Several adsorption mechanisms are provided, each including a base and a buffer pad. Both ends of the top surface of the base are hinged with a buffer structure, and the other end of the buffer structure is connected to the actuating end of the spatial sliding device. Several adsorption holes are provided on the bottom surface of the base, and all adsorption holes are connected to the negative pressure device. The buffer pad is provided on the bottom surface of the base, and the buffer pad has through holes in the corresponding area of ​​the adsorption holes.

2. The flexible ceramic loading and unloading robot according to claim 1, characterized in that: The buffer structure includes a sliding column, a mounting sleeve, a hinge joint disposed at one end of the sliding column, and a shock-absorbing spring. The mounting sleeve is installed on the moving end of the spatial sliding device. The sliding column is movably inserted into the mounting sleeve. The shock-absorbing spring is movably fitted on the area of ​​the sliding column located between the mounting sleeve and the hinge joint. The two ends of the shock-absorbing spring abut against the mounting sleeve and the hinge joint, respectively. One end of the sliding column protruding from the mounting sleeve is tightened by a nut. The hinge joint is hinged to the top surface of the base.

3. The flexible ceramic loading and unloading robot according to claim 2, characterized in that: The top surface of the base is provided with a hinge seat, which is hinged to the hinge joint.

4. The flexible ceramic loading and unloading robot according to claim 3, characterized in that: All of the aforementioned hinge seats can only swing in the same direction relative to the hinge joint.

5. The flexible ceramic loading and unloading robot according to claim 1, characterized in that: The cushioning pad is made of sponge material.

6. The flexible ceramic loading and unloading robot according to claim 3, characterized in that: The hinge joint is capable of rotating relative to the sliding column.

7. A flexible ceramic loading and unloading robot according to any one of claims 1-6, characterized in that: The negative pressure device includes a negative pressure fan, a main connecting pipe, a distribution pipe, and several connecting pipes connected in sequence. The negative pressure fan is installed on the space sliding device. Each of the connecting pipes is connected to an adsorption hole on a corresponding base. The distribution pipe is connected to the actuating end of the space sliding device.

8. The flexible ceramic loading and unloading robot according to claim 7, characterized in that: The spatial sliding device includes a slide rail, a sliding table slidably mounted on the slide rail, and a lifting frame mounted on the sliding table. The slide rail is mounted on the frame, and the frame is equipped with a driver for driving the sliding table to slide on the slide rail. All the buffer structures are mounted on the lifting frame, the negative pressure fan is mounted on the sliding table, and the distribution pipe is mounted on the lifting frame.

9. A flexible ceramic loading and unloading robot according to claim 8, characterized in that: The lifting frame includes a column and a mounting beam. The column is mounted on the sliding platform via a lifting device. Two mounting beams are provided and are respectively installed on both sides of the column. The buffer structure is installed on the mounting beam, and the distribution pipe is installed on the mounting beam.

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